Image Target Relative Position Determining Method, Device, and System Thereof

ABSTRACT

An image target tracking method, device, and system thereof are provided in the present disclosure. The image target relative position determining method includes the following steps: obtaining a target initial position, and performing a sparse sampling according to the target initial position; dividing sampling points into foreground sampling points and background sampling points; clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image. Throughout the process, a multi-feature cascade clustering is completed by using sparse sampling, sampling point division, and adjacent foreground sampling point clustering; a robust estimation is performed in order to accurately predict a relative position between a target and a camouflage interference.

FIELD OF THE DISCLOSURE

The present disclosure relates to an image processing technology, and more particularly to an image target relative position determining method, device, and system thereof.

BACKGROUND OF THE INVENTION

With the application of video cameras in the field of urban security, image-information-based target tracking algorithms attract research enthusiasm of industry and academia. In the past three decades, the image tracking algorithm has made great progress. However, there are still many open problems that do not have perfect solutions, such as, large deformation of the target, change of viewing angles, change of lights, noisy background, interference, shelters, and other issues.

A traditional target tracking scheme is based on modeling of the target object completion algorithm, which mainly include three parts: 1) an extraction of the target feature model; 2) a multi-feature fusion model matching algorithm; and 3) a real-time update scheme of the algorithm.

Based on the traditional target tracking scheme, a tracker can deal with some traditional problems, such as large deformation of the target, change of lights and rapid movement. However, when a camouflage is existed in the environment, traditional schemes often cannot accurately determine the relative position between the target and the camouflage interference.

Hence, how to improve the image target relative position determining scheme has become an important topic for the person skilled in the art.

SUMMARY OF THE INVENTION

Based on this, in connection with the problem that a traditional scheme cannot achieve accurate determination of a relative position between a target and a camouflage interference, it is necessary to provide an image target relative position determining method, device, and system thereof which can accurately determine the relative position between the target and the camouflage interference.

It is one objective of the present disclosure to provide an image target relative position determining method.

According to one exemplary embodiment of the present disclosure, an image target relative position determining method is provided. The image target relative position determining method includes the following steps: obtaining a target initial position, and performing a sparse sampling according to the target initial position; dividing sampling points into foreground sampling points and background sampling points; clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

It is one objective of the present disclosure to provide an image target relative position determining system.

According to one exemplary embodiment of the present disclosure, an image target relative position determining system is provided. The image target relative position determining system is applied to the abovementioned image target relative position determining method. The image target relative position determining system includes a sparse sampling module, a sampling point dividing module, a clustering module, and a position determining module. The sparse sampling module is configured to obtain a target initial position, and perform a sparse sampling according to the target initial position. The sampling point dividing module is configured to divide sampling points into foreground sampling points and background sampling points. The clustering module is configured to cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters. The position determining module is configured to perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

According to one exemplary embodiment of the present disclosure, an image target relative position determining device is provided. The image target relative position determining device is applied to the abovementioned image target relative position determining method. The image target relative position determining device includes a processor which invokes machine readable instructions corresponding to a control logic for determining image target relative position stored on a storage medium and executes the machine readable instructions to: obtain a target initial position, and perform a sparse sampling according to the target initial position; divide sampling points into foreground sampling points and background sampling points; cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

The image target relative position determining method, device, and system thereof provided in the present disclosure may obtain a target initial position, and perform a sparse sampling according to the target initial position; divide sampling points into foreground sampling points and background sampling points; cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image. Throughout the process, a multi-feature cascade clustering is completed by using sparse sampling, sampling point division, and adjacent foreground sampling point clustering; a robust estimation is performed in order to accurately predict a relative position between a target and a camouflage interference.

These and other objectives of the present disclosure will no doubt become obvious to those of ordinary skill in the art after reading the following detailed description of the preferred embodiment that is illustrated in the various figures and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart illustrating the procedures of an image target relative position determining method according to a first embodiment of the present disclosure.

FIG. 2 is a flowchart illustrating the procedures of an image target relative position determining method according to a second embodiment of the present disclosure.

FIG. 3 is a block diagram of an image target relative position determining system according to a first embodiment of the present disclosure.

FIG. 4 is a block diagram of an image target relative position determining system according to a second embodiment of the present disclosure.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Certain terms are used throughout the following descriptions and claims to refer to particular system components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not differ in functionality. In the following discussion and in the claims, the terms “include”, “including”, “comprise”, and “comprising” are used in an open-ended fashion, and thus should be interpreted to mean “including, but not limited to . . . ” The terms “couple” and “coupled” are intended to mean either an indirect or a direct electrical connection. Thus, if a first device couples to a second device, that connection may be through a direct electrical connection, or through an indirect electrical connection via other devices and connections.

The figures are only illustrations of an example, wherein the units or procedure shown in the figures are not necessarily essential for implementing the present disclosure. Those skilled in the art will understand that the units in the device in the example can be arranged in the device in the examples as described, or can be alternatively located in one or more devices different from that in the examples. The units in the examples described can be combined into one module or further divided into a plurality of sub-units.

Please refer to FIG. 1. FIG. 1 is a flowchart illustrating the procedures of an image target relative position determining method according to a first embodiment of the present disclosure. As shown in FIG. 1, the method may include the following steps S200, S400, S600, and S800.

Step S200: Obtaining a target initial position, and performing a sparse sampling according to the target initial position.

An image containing the target is extracted in order to acquire the target initial position. The methods for acquiring the target initial position are different in different application scenarios. In particular, they can be divided into two cases: a first case is that a previous frame image is existed, and a second case is that a previous frame image is absent. For the first case that a previous frame image is existed, the target initial position can be acquired directly by acquiring the position of the target in the previous frame image. For the second case that a previous frame image is absent, the target initial position can be acquired by acquiring a target predetermined position. The details will be illustrated by the following example. Assuming that continuous images containing the target have been collected before the current time point (for example, the frame image collected at the current time point is a 10th frame image from the beginning of acquisition), the target initial position can be acquired from the collected 9th frame image containing the target. Assuming that continuous images containing the target have not been collected before the current time point, (i.e., the frame image collected at the current time point is a 1st frame image from the beginning of acquisition), the target initial position can be acquired by acquiring the target predetermined position. In one embodiment, the target predetermined position can be set randomly or based on actual application scenarios and historical experience data. A spare sampling may be performed around the target initial position based on the target initial position to acquire a plurality of sampling points. In another embodiment, an uniform sparse sampling may be performed around the target initial position in order to acquire a plurality of more neat sampling points, which is beneficial to reduce the load of post-data processing.

Step S400: Dividing sampling points into foreground sampling points and background sampling points.

The sampling points acquired in Step 200 are divided into foreground sampling points and background sampling points, wherein the foreground sampling points may contain the target, and may also contain the camouflage interference.

Please also refer to FIG. 2. FIG. 2 is a flowchart illustrating the procedures of an image target relative position determining method according to a second embodiment of the present disclosure. As shown in FIG. 2, in another embodiment, the step S400 may include the following steps.

Step 420: Color features of each sampling point in the sparse sampling are extracted. After the sparse sampling in Step 200 is performed, a plurality of sampling points will be acquired, and the color features in each sampling point are extracted. Specially, the histogram of color feature of each sampling point is extracted.

Step 440: Obtaining the gradient histogram feature of color intensity, and matching the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result.

The gradient histogram feature of color intensity is the feature extracted by dividing the existing image target feature, wherein the gradient model is a histogram of oriented gradient (HOG). In one embodiment, the color feature extracted in the sampling point can be matched with the color feature in the model by using a Bhattacharyya distance calculation method, wherein one matching value can be obtained from each sampling point.

Step 460: Based on the matching result and the spatial position information of the sampling points, the sampling points can be divided into foreground sampling points and background sampling points by using Gaussian clustering algorithm.

The clustering algorithm is a statistical analysis method for researching (sample or index) classification problem, and it is also an important algorithm for data mining. The clustering analysis is composed of several models, wherein usually a model is a vector of a measure or a point in a multidimensional space. The clustering analysis is based on similarity. There is more similarity between models in a same cluster than between models in different clusters. In one embodiment, based on the color matching result and the spatial position information of each sampling point, the sampling points are divided into foreground sampling points and background sampling points by using Gaussian clustering algorithm. The foreground sampling points may contain the target, and may also contain the camouflage interference. In the follow-up operations, the foreground sampling points are mainly processed.

Step S600: Clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters.

After the sampling points are divided into foreground sampling points and background sampling points, all foreground sampling points are traversed. Adjacent foreground sampling points are re-clustered according to the spatial distribution of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters. In one embodiment, overlapping regions of the foreground sampling points in the spatial distribution can be mainly considered. The overlapping region is re-clustered in order to obtain the clustering result containing a plurality of clusters.

As shown in FIG. 2, in on embodiment, the step S600 may include the following steps.

Step S620: The overlapping region of foreground sampling points is obtained according to the spatial distribution of the foreground sampling points.

After the foreground sampling points and the background sampling points are distinguished, all foreground sampling points are traversed for analyzing the spatial distribution of the foreground sampling points in order to find the overlapping region of the foreground sampling points.

Step S640: The foreground sampling points are clustered according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters.

A spatial clustering is performed on the foreground sampling points having the overlapping region again, and the foreground sampling points are divided into multiple different clusters according to the spatial distribution.

Step S800: Performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

A robust estimation is performed according to the clustering result in order to determine the relative position between the target and the camouflage interference in the image.

As shown in FIG. 2, in one embodiment, the step S800 further includes the following steps S820, S840, S860, and S880.

Step S820: Performing a cluster dense sampling according to the clustering result, and extracting a gradient feature from the dense sampling.

A cluster dense sampling is performed in each cluster, and the gradient feature is extracted from the cluster dense sampling point.

Step S840: Matching the extracted gradient feature with a predetermined gradient model for obtaining a matching value.

The predetermined gradient module is a pre-built model. In particular, the gradient model is a histogram of oriented gradient (HOG), which can be obtained by modeling experience data of the image target. During the matching process, the matching value is adopted for representing a matching degree between the two.

Step S860: Obtaining a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point.

For the matching value, the gradient matching mean point and the highest gradient matching value point are focused, and a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point are obtained, respectively.

Step S880: Performing a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.

Since each cluster may contain one or more (two) targets, in order to effectively estimating the positions of all targets and camouflage interference, a robust estimation is completed by adopting the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point for determining the relative position between the target(s) and the camouflage interference.

In one embodiment, the step S880 includes the following steps.

Step 1: Performing an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point.

Step 2: When an offset between the corresponding position of each gradient matching mean point and the corresponding position of the highest gradient matching value point is less than a predetermined value, stopping the iteration and searching a target having the overlapping region.

Step 3: Determining the relative position between the target and the camouflage interference in the image.

The corresponding position of the gradient matching mean point is obtained according to the matching value. An iterative clustering and a target region estimation are performed on dense sampling points within each cluster by comparing the corresponding position of the highest gradient matching value point with the corresponding position of the gradient matching mean point. The iteration is stopped until that the corresponding position of the gradient matching mean point is close enough to the corresponding position of the highest gradient matching value point. The estimation of the target position is completed by using the relative position between the target and the camouflage interference in the image. In practice, the corresponding position of the gradient matching mean point is close enough to the corresponding position of the highest gradient matching value point can be implemented by setting that an offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than a predetermined value. More specifically, the predetermined value is 50%, that is, when the offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than 50%, the iteration is stopped, and the target having the overlapping region is searched.

The image target relative position determining method provided in the present disclosure may obtain a target initial position, and perform a sparse sampling according to the target initial position; divide sampling points into foreground sampling points and background sampling points; cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image. Throughout the process, a multi-feature cascade clustering is completed by using sparse sampling, sampling point division, and adjacent foreground sampling point clustering; a robust estimation is performed in order to accurately predict a relative position between a target and a camouflage interference.

In order to further explain the technical scheme of the image target relative position determining method of the present invention in detail, a concrete example will be described below for describing the overall technical scheme and advantageous effects thereof.

Step 1: Performing an uniform sparse sampling around a target based on a previous frame target position, and extracting a color feature (histogram) from each sampling point.

Step 2: Matching the color feature extracted from each sampling point with a color feature in a model by using a Bhattacharyya distance calculation algorithm, wherein each sampling point will obtain a corresponding matching value.

Step 3: Dividing the sampling points into foreground sampling points and background sampling points according to a color matching value of the sampling point and its spatial position information by using Gaussian clustering algorithm, wherein the foreground sampling points may contain the target and may simultaneously contain the camouflage interference.

Step 4: Performing a spatial clustering on the foreground sampling points having the overlapping region again, and the foreground sampling points are divided into multiple different clusters according to the spatial distribution.

Step 5: In order to improve the accuracy, a dense sampling is performed in each cluster, and a gradient feature is extracted from the dense sampling.

Step 6: Matching the gradient feature of the sampling point with a predetermined gradient model for obtaining a matching value.

Step 7: Since each cluster may contain one or more (two) targets, in order to effectively estimate the positions of all targets and the camouflage interference, the algorithm iteratively calculates a corresponding position of a gradient matching mean point and a corresponding position of a highest gradient matching value point in the cluster to complete the robust estimation. The iteration is stopped until that the corresponding position of the gradient matching mean point is close enough to the corresponding position of the highest gradient matching value point, that is, an offset between the corresponding position of each gradient matching mean point and the corresponding position of the highest gradient matching value point is less than 50%.

Step 8: Determining the target having overlapping regions according to the iteration result, so as to determine the relative position between the target and the camouflage interference in the image.

The image target relative position determining method provided in the present disclosure may perform an uniform sparse sampling around a target based on a previous frame target position, and extract a color feature (histogram) from each sampling point; may match the color feature extracted from each sampling point with a color feature in a model; may divide the sampling points into foreground sampling points and background sampling points according to a color matching value of the sampling point and its spatial position information by using Gaussian clustering algorithm; may perform a spatial clustering on the foreground sampling points having the overlapping region again; may perform a dense sampling in each cluster, and extract a gradient feature from the dense sampling; may match the gradient feature of the sampling point with a predetermined gradient model for obtaining a matching value; may obtain a corresponding position of a gradient matching mean point in the dese sampling according to the gradient matching value; may iteratively compare the corresponding position of the highest gradient matching value point and the corresponding position of the gradient matching mean point; may perform an iterative clustering on the dense sampling within each cluster; may complete potential target region estimation; and may stop the iteration until that the corresponding position of the gradient matching mean point is close enough to the corresponding position of the highest gradient matching value point, that is, an offset between the corresponding position of each gradient matching mean point and the corresponding position of the highest gradient matching value point is less than 50%. At this stage, this algorithm completes prediction of the relative position between the target and the camouflage interference.

Please refer to FIG. 3. FIG. 3 is a block diagram of an image target relative position determining system according to a first embodiment of the present disclosure. As shown in FIG. 3, the image target tracking system includes a sparse sampling module 200, a sampling point dividing module 400, a clustering module 600, and a position determining module 800.

The sparse sampling module 200 is configured to obtain a target initial position, and perform a sparse sampling according to the target initial position.

The sampling point dividing module 400 is configured to divide sampling points into foreground sampling points and background sampling points.

The a clustering module 600 is configured to cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters.

The position determining module 800 is configured to perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

The image target relative position determining system of the present disclosure uses the sparse sampling module 200 to obtain a target initial position and perform a sparse sampling according to the target initial position; uses the sampling point dividing module 400 to divide sampling points into foreground sampling points and background sampling points; uses the clustering module 600 to cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and uses the position determining module 800 to perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image. Throughout the process, a multi-feature cascade clustering is completed by using sparse sampling, sampling point division, and adjacent foreground sampling point clustering; a robust estimation is performed in order to accurately predict a relative position between a target and a camouflage interference.

Please refer to FIG. 4. FIG. 4 is a block diagram of an image target relative position determining system according to a second embodiment of the present disclosure. As shown in FIG. 4, in one embodiment, the position determining module 800 further includes a gradient information extracting unit 820, a matching value calculating unit 840, a corresponding position obtaining unit 860, and a position determining unit 880.

The gradient information extracting unit 820 is configured to perform a cluster dense sampling according to the clustering result, and extract a gradient feature from the dense sampling.

The matching value calculating unit 840 is configured to match the extracted gradient feature with a predetermined gradient model for obtaining a matching value.

The corresponding position obtaining unit 860 is configured to obtain a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point.

The position determining unit 880 is configured to perform a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.

In one example, the position determining unit 880 further includes an iteration matching value calculating unit, an overlapping region searching unit, and a determining unit.

The iteration matching value calculating unit is configured to perform an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point.

The overlapping region searching unit is configured to stop the iteration and search a target having the overlapping region when an offset between the corresponding position of each gradient matching mean point and the corresponding position of the highest gradient matching value point is less than a predetermined value.

The determining unit is configured to determine the relative position between the target and the camouflage interference in the image.

As shown in FIG. 4, in one example, the sampling point dividing module 400 further includes a color feature extracting unit 420, a matching unit 440, and a dividing unit 460.

The color feature extracting unit 420 is configured to extracting color features in each sampling point of the sparse sampling.

The matching unit 440 is configured to obtain the gradient histogram feature of color intensity, and match the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result.

The dividing unit 460 is configured to divide the sampling points into foreground sampling points and background sampling points by using Gaussian clustering algorithm based on the matching result and the spatial position information of the sampling points.

As shown in FIG. 4, in one example, the clustering module 600 further includes an overlapping region obtaining unit 620 and a clustering unit 640.

The overlapping region obtaining unit 620 is configured to obtain overlapping region of foreground sampling points according to the spatial distribution of the foreground sampling points.

The clustering unit 640 is configured to cluster the foreground sampling points according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters.

The example below is implemented with software, which describes how the image target relative position determining device runs the control logic. In this example, the control logic of the present disclosure should be understood as machine readable instructions stored in the machine readable storage medium. When the processor of the image target relative position determining device executes the control logic, the processor executes corresponding machine readable instructions of the control logic stored in the machine readable storage medium to: obtain a target initial position, and perform a sparse sampling according to the target initial position; divide sampling points into foreground sampling points and background sampling points; cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.

According to an example, when performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image, said machine readable instructions further cause the processor to: perform a cluster dense sampling according to the clustering result, and extract a gradient feature from the dense sampling; match the extracted gradient feature with a predetermined gradient model for obtaining a matching value; obtain a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point; and perform a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.

According to another example, when performing a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image, said machine readable instructions further cause the processor to: perform an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point; when an offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than a predetermined value, stop the iteration and searching a target having the overlapping region; and determine the relative position between the target and the camouflage interference in the image.

According to another example, when dividing sampling points into foreground sampling points and background sampling points, said machine readable instructions further cause the processor to: extract color features of each sampling point in the sparse sampling; obtain the gradient histogram feature of color intensity, and match the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result; and divide the sampling points into foreground sampling points and background sampling points by using Gaussian clustering algorithm based on the matching result and the spatial position information of the sampling points.

According to another example, when clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters, said machine readable instructions further cause the processor to: obtain the overlapping region of foreground sampling points according to the spatial distribution of the foreground sampling points; and cluster the foreground sampling points according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters.

Reference in the specification to “one example” or “an example” means that a particular feature, structure, or characteristic described in connection with the example is included in at least an implementation. The appearances of the phrase “in one example” in various places in the specification are not necessarily all referring to the same example. Thus, although examples have been described in language specific to structural features and/or methodological acts, it is to be understood that claimed subject matter may not be limited to the specific features or acts described. Rather, the specific features and acts are disclosed as sample forms of implementing the claimed subject matter.

The above are only preferred examples of the present disclosure is not intended to limit the present disclosure within the spirit and principles of the present disclosure, any changes made, equivalent replacement, or improvement in the protection of the present disclosure should contain within the range.

Those skilled in the art will readily observe that numerous modifications and alterations of the device and method may be made while retaining the teachings of the invention. Accordingly, the above disclosure should be construed as limited only by the metes and bounds of the appended claims. 

What is claimed is:
 1. An image target relative position determining method, comprising: obtaining a target initial position, and performing a sparse sampling according to the target initial position; dividing sampling points into foreground sampling points and background sampling points; clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.
 2. The image target relative position determining method according to claim 1, wherein the step of performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image comprises: performing a cluster dense sampling according to the clustering result, and extracting a gradient feature from the dense sampling; matching the extracted gradient feature with a predetermined gradient model for obtaining a matching value; obtaining a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point; and performing a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.
 3. The image target relative position determining method according to claim 2, wherein the step of performing a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image comprises: performing an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point; when an offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than a predetermined value, stopping the iteration and searching a target having the overlapping region; and determining the relative position between the target and the camouflage interference in the image.
 4. The image target relative position determining method according to claim 1, wherein the step of dividing sampling points into foreground sampling points and background sampling points comprises: extracting color features of each sampling point in the sparse sampling; obtaining the gradient histogram feature of color intensity, and matching the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result; and dividing the sampling points into foreground sampling points and background sampling points by using Gaussian clustering algorithm based on the matching result and the spatial position information of the sampling points.
 5. The image target relative position determining method according to claim 1, wherein the step of clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters comprises: obtaining the overlapping region of foreground sampling points according to the spatial distribution of the foreground sampling points; and clustering the foreground sampling points according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters.
 6. An image target relative position determining system, comprising: a sparse sampling module, configured to obtain a target initial position, and perform a sparse sampling according to the target initial position; a sampling point dividing module, configured to divide sampling points into foreground sampling points and background sampling points; a clustering module, configured to cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; a position determining module, configured to perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image; and a tracking module, configured to generate a prediction trajectory, correlate an observation sample position with the prediction trajectory to generate a correlation result, and determine whether the target is blocked and track the target according to the correlation result.
 7. The image target relative position determining system according to claim 6, wherein the position determining module further comprises: a gradient information extracting unit, configured to perform a cluster dense sampling according to the clustering result, and extract a gradient feature from the dense sampling; a matching value calculating unit, configured to match the extracted gradient feature with a predetermined gradient model for obtaining a matching value; a corresponding position obtaining unit, configured to obtain a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point; and a position determining unit, configured to perform a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.
 8. The image target relative position determining system according to claim 7, wherein the position determining unit further comprises: an iteration matching value calculating unit, configured to perform an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point; an overlapping region searching unit, configured to stop the iteration and search a target having the overlapping region when an offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than a predetermined value; and a determining unit, configured to determine the relative position between the target and the camouflage interference in the image.
 9. The image target relative position determining system according to claim 6, wherein the sampling point dividing module further comprises: a color feature extracting unit, configured to extract color features of each sampling point in the sparse sampling; a matching unit, configured to obtain the gradient histogram feature of color intensity, and match the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result; and a dividing unit, configured to divide the sampling points into foreground sampling points and background sampling points by using Gaussian clustering algorithm based on the matching result and the spatial position information of the sampling points.
 10. The image target relative position determining system according to claim 6, wherein the clustering module further comprises: an overlapping region obtaining unit, configured to obtain the overlapping region of foreground sampling points according to the spatial distribution of the foreground sampling points; and a clustering unit, configured to cluster the foreground sampling points according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters.
 11. An image target relative position determining device, comprising: a processor which invokes machine readable instructions corresponding to a control logic for determining image target relative position stored on a storage medium and executes the machine readable instructions to: obtain a target initial position, and perform a sparse sampling according to the target initial position; divide sampling points into foreground sampling points and background sampling points; cluster adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters; and perform a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image.
 12. The image target relative position determining device according to claim 11, wherein when performing a robust estimation according to the clustering result in order to determine a relative position between a target and a camouflage interference in an image, said machine readable instructions further cause the processor to: perform a cluster dense sampling according to the clustering result, and extract a gradient feature from the dense sampling; match the extracted gradient feature with a predetermined gradient model for obtaining a matching value; obtain a corresponding position of the gradient matching mean point and a corresponding position of the highest gradient matching value point; and perform a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image.
 13. The image target relative position determining device according to claim 12, wherein when performing a robust estimation according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point in order to determine the relative position between the target and the camouflage interference in the image, said machine readable instructions further cause the processor to: perform an iterative clustering and a potential target region estimation on dense sampling points within each cluster according to the corresponding position of the gradient matching mean point and the corresponding position of the highest gradient matching value point; when an offset between the corresponding position of each gradient matching mean point and the corresponding position of each highest gradient matching value point is less than a predetermined value, stop the iteration and searching a target having the overlapping region; and determine the relative position between the target and the camouflage interference in the image.
 14. The image target relative position determining device according to claim 11, wherein when dividing sampling points into foreground sampling points and background sampling points, said machine readable instructions further cause the processor to: extract color features of each sampling point in the sparse sampling; obtain the gradient histogram feature of color intensity, and match the extracted color feature with the gradient histogram feature of color intensity in order to obtain a matching result; and divide the sampling points into foreground sampling points and background sampling points by using Gaussian clustering algorithm based on the matching result and the spatial position information of the sampling points.
 15. The image target relative position determining device according to claim 11, wherein when clustering adjacent foreground sampling points according to a spatial distribution of the foreground sampling points in order to obtain a clustering result containing a plurality of clusters, said machine readable instructions further cause the processor to: obtain the overlapping region of foreground sampling points according to the spatial distribution of the foreground sampling points; and cluster the foreground sampling points according to the overlapping region of the foreground sampling points in order to obtain the clustering result containing a plurality of clusters. 